Systems and methods for adjusting the position of a wheelchair occupant

ABSTRACT

A system for adjusting a position of a wheelchair occupant includes a sensor configured to generate sensor data based on the position of the occupant, an adjustment system coupled to a support point on the wheelchair and configured to be coupled to a support point on the occupant&#39;s clothing, and a processing circuit. The adjustment system is configured to extend and retract at least one adjustment element to adjust the position of the occupant, and the processing circuit is configured to determine the position of the occupant in the wheelchair based on the sensor data and adjust the adjustment element based on the determined position of the occupant.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/923,140, entitled “SYSTEMS AND METHODS FOR ADJUSTING THE POSITION OFA WHEELCHAIR OCCUPANT,” filed Jun. 20, 2013, which is currentlycopending and incorporated herein by reference in its entirety and forall purposes.

BACKGROUND

Many individuals require the assistance of a wheelchair to be mobile. Ingeneral, the wheelchair is manually powered by an occupant or caregiver,or the wheelchair is propelled by motors. In a typical scenario, acaregiver may be pushing a patient in a wheelchair throughout a healthcare facility. In another scenario, the patient may be controlling amotorized wheelchair. As the chair moves about, the wheelchair occupantmay gradually slip downward or otherwise shift positions within thechair. However, the caregiver may not be aware that the occupant hasslipped or moved to an improper position within the chair. The occupantmay not have the physical strength or ability to reposition themselveswithin the chair. The occupant must then wait for assistance from thecaregiver.

SUMMARY

One embodiment relates to a system for adjusting a position of awheelchair occupant including a sensor configured to generate sensordata based on the position of the occupant, an adjustable cable systemcoupled to a support point on the wheelchair and configured to becoupled to a support point on the occupant's clothing, and a processingcircuit. The cable system is configured to extend and retract at leastone cable to adjust the position of the occupant, and the processingcircuit is configured to determine the position of the occupant in thewheelchair based on the sensor data and adjust the cable based on thedetermined position of the occupant.

Another embodiment relates to a method of adjusting a position of awheelchair occupant. The method includes connecting an adjustable cablesystem to clothing of the occupant, where the cable system is coupled toa support point on the wheelchair and configured to be coupled to asupport point on the occupant's clothing, and where the cable system isconfigured to extend and retract at least one cable to adjust theposition of the occupant. The method further includes generating sensordata with a sensor, where the sensor data is based on the position ofthe occupant, determining the position of the occupant in the wheelchairbased on the sensor data, and adjusting the cable based on thedetermined position of the occupant.

Another embodiment relates to a non-transitory computer-readable mediumhaving instructions stored thereon, the instructions forming a programexecutable by a processing circuit to adjust a position of a wheelchairoccupant. The instructions include instructions for receiving sensordata from a sensor, where the sensor data is based on the position ofthe occupant, instructions for determining the position of the occupantin the wheelchair based on the sensor data, and instructions forcontrolling an adjustable cable system to adjust a cable based on thedetermined position of the occupant, where the cable system is coupledto a support point on the wheelchair and configured to be coupled to asupport point on the occupant's clothing, and where the cable system isconfigured to extend and retract at least one cable to adjust theposition of the occupant.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram of a system for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 2 is a block diagram of a processing circuit according to oneembodiment.

FIG. 3 is a schematic diagram of a wheelchair including a system foradjusting the position of a wheelchair occupant according to oneembodiment.

FIG. 4 is a schematic diagram of a wheelchair including a system foradjusting the position of a wheelchair occupant according to oneembodiment.

FIG. 5 is a schematic diagram of a wheelchair including a system foradjusting the position of a wheelchair occupant according to oneembodiment.

FIG. 6 is a schematic diagram of a wheelchair including a system foradjusting the position of a wheelchair occupant according to oneembodiment.

FIG. 7 is a schematic diagram of a wheelchair including a system foradjusting the position of a wheelchair occupant according to oneembodiment.

FIG. 8 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 9 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 10 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 11 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 12 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

FIG. 13 is a flowchart of a process for adjusting the position of awheelchair occupant according to one embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Referring generally to the figures, various embodiments for adjustingthe position of a wheelchair occupant are shown and described. Often, asan occupant of a wheelchair moves about, the occupant gradually slipsdownward in the chair. In other situations, the occupant may shift tothe left and right as the chair turns. In other situations, the occupantmay slouch or have a posterior pelvic tilt, etc. The occupant may nothave the strength or capability to reposition himself or herself withinthe chair. In that case, the occupant must contact a caregiver forassistance or wait until a caregiver notices the situation and providesassistance. In one embodiment, a wheelchair may be equipped with cables(e.g., tensile cables) that are configured to attached to support pointson the chair and support points on the clothing (e.g., a shirt, ajacket, pants, a harness, etc.) worn by the occupant. In one embodiment,the support points include a cable adjustment system having controllablemotor-driven reels that are capable of reeling the cables in and out inorder to dynamically adjust the length and tension of the extended cablebetween the chair and the occupant. In another embodiment, the cablesmay be adjusted by a system other than motor-driven reels (e.g., a rackand pinion system, a lever-based system, etc.). A processing circuit mayanalyze data provided by sensors to determine the position of theoccupant in the chair. The processing circuit may adjust the cables viathe cable adjustment system. For example, when an occupant slips out ofproper position, the processing circuit may generate the necessarycommands to cause controllable motors to reel the cables in, decreasingthe extended portion of the cable in length, and pulling the occupantback into a proper position. When the occupant is not in the properposition or the occupant has been repositioned, an alert may begenerated by the processing circuit in order to bring the situation tothe attention of a caregiver.

The systems described herein may be enabled or disabled by a user asdesired. Additionally, a user may specify preferences in order to setcable tension settings, positioning settings, and operating modes, etc.User preferences and settings may be stored in a preference file.Default operating values may also be provided. Although the systemsdescribed herein refer to being installed on a wheelchair, other medicalvehicles and embodiments (e.g., mobility scooters, hospital beds, etc.)are envisioned. The systems described herein are not limited to use witha wheelchair.

Referring to FIG. 1, a block diagram of system 100 for adjusting theposition of a wheelchair occupant is shown. According to one embodiment,system 100 includes processing circuit 102, and sensors 104 for sensinginformation related to the occupant's position and providing theinformation to processing circuit 102. System 100 also includes cables106 and motor-driven reels 108. Sensors 104 include all sensingcomponents necessary for sensing the position of a wheelchair occupant.Sensors 104 may include a single sensor device, or multiple sensors.Sensors 104 may be imaging sensors, cameras, laser sensors, radarsensors, RFID sensors, infrared sensors, optical sensors, pressuresensors, capacitive sensors, cable sensors, etc., or any combination ofsensors. Sensors 104 are communicably coupled to processing circuit 102.Processing circuit 102 analyzes the sensor data and determines aposition of the occupant based on the sensor data. Processing circuit102 makes a determination of whether the position of the occupant needsto be changed or maintained, and adjusts cables 106 appropriately. Thelengths of the extended portions of cables 106 may be adjusted bycontrolling the operation of corresponding motor-driven reels 108. Awheelchair may be equipped with a single cable or multiple cables 106.Cables 106 may be any cable capable of adjusting the position of anoccupant as described herein (e.g., tensile cables, steel-wire woundcables, Kevlar® fiber cables, nylon braided lines, synthetic fiberropes, etc.). Cables 106 are not limited to a particular gauge ormaterial. Cables 106 are configured to attached to support points on thewheelchair and support points on the occupant's clothing (e.g., with aclip, fastener, or other attachment device, etc.).

In one embodiment, processing circuit 102 is a computing deviceintegrated into a wheelchair and sensors 104 include awide-field-of-view camera. The wheelchair includes cables 106 that areconnected to an occupant's harness. Processing circuit 102 accepts inputfrom the camera and analyzes the images to determine when an occupanthas slipped down into an improper position. When an improper position isdetected, processing circuit 102 causes cables 106 to adjust (e.g.,decrease in extended length, increase tautness, etc.) by controllingcorresponding motor-driven reels 108. The motor-driven reels 108 wind uplengths of cables 106 as controlled by processing circuit 102 until theoccupant is pulled into a proper position. The proper and improperpositions may be calculated by processing circuit 102, or may bepredefined and stored in a configuration file. The proper and improperpositions may include intermediate positions that an occupant mayencounter.

In one embodiment, processing circuit 102 is a computing device coupledto a wheelchair and sensors 104 include capacitance and pressure sensorsintegrated throughout the seat of the chair. The wheelchair includescables 106 that are connected to an occupant's shirt. Processing circuit102 accepts input from the sensors to determine a position of theoccupant. Processing circuit 102 compares the position to a definedproper and/or improper position. When the occupant is not in a properposition, processing circuit 102 causes the extended portions of cables106 to decrease in length by controlling corresponding motor-drivenreels 108. The motor-driven reels 108 wind up lengths of cables 106 ascontrolled by processing circuit 102 until the occupant is pulled into aproper position. Cables 106 may be controlled individually or in groups,and an occupant may be shifted to intermediate positions as the occupantis pulled into a proper position (e.g., various steps and correctionsmay be applied by cables 106 as controlled by processing circuit 102prior to the occupant being shifted into the proper position). Theamount that cables 106 are retracted is based on the difference betweenthe occupant's position and a proper position. For example, if anoccupant has slipped five inches down the chair further than theoccupant should be, processing circuit 102 may decrease the extendedlength of a cable 106 by five inches. As another example, if an occupanthas slipped sideways towards the left side of the chair further than theoccupant should be, processing circuit 102 may decrease the extendedlength of rightward cable 106.

In one embodiment, processing circuit 102 allows motor-driven reels 108to extend and retract the length of cables 106 a certain amount in orderto allow the occupant to have a range of motion. The range of motionpermits the occupant to have some freedom to move without being rigidlyaffixed to the chair. Processing circuit 102 may adjust cables 106 andcontrol motor-driven reels 108 such that a fixed tension is maintainedon cables 106.

In one embodiment, processing circuit 102 adjusts cables 106 in a mannernecessary to maintain the occupant in his or her current position.Processing circuit 102 may cause the motor-driven reels 108 to extendand retract cables 106 a certain amount as the occupant begins to moveor shift in order to restrain the movement. Processing circuit 102 mayadjust a certain cable 106 individually, or may adjust a group of cables106. Processing circuit 102 makes such adjustments based on the datafrom sensors 104 related to the position of the occupant.

In one embodiment, processing circuit 102 makes a determination ofwhether to adjust the position of the occupant based on motioninformation. For example, a speed sensor may provide the speed of thewheelchair to processing circuit 102, and adjustment of cables 106 maybe based on the speed. As another example, an accelerometer or gyroscopedevice provides motion data to processing circuit 102, and adjustment ofcables 106 may be based on the motion characteristics of the wheelchair.In one embodiment, processing circuit 102 makes a determination ofwhether to adjust the position of the occupant based on user input. Forexample, processing circuit 102 may receive a user command to repositionthe occupant, and adjustment of cables 106 may be based on the usercommand.

Referring to FIG. 2, a detailed block diagram of processing circuit 200for completing the systems and methods of the present disclosure isshown according to one embodiment. Processing circuit 200 may beprocessing circuit 102 of FIG. 1. Processing circuit 200 is generallyconfigured to accept input from at least one sensor. Processing circuit200 is further configured to receive configuration and preference data.Input data may be accepted continuously or periodically. Processingcircuit 200 uses the input data to determine a position of the occupant,and to determine whether to adjust (or maintain) the position of theoccupant using cables. Processing circuit 200 analyzes data provided bythe sensor(s) to determine when the occupant shifts to an improperpositions within the chair. Improper positions may correspond tospecific locations, positions where the occupant's extremities may beprotruding, positions where the occupant has slipped down within thechair, etc. Improper positions may be adjusted or customized for aparticular occupant, or may be general positions. Thresholds and offsetsmay be used in setting proper and improper positions. Processing circuit200 may also predict when an occupant is likely to shift based on thespeed and motion of the chair. For example, motion of the wheelchair mayinclude an angular motion, a rotational motion, an impending motion, ora predicted motion, etc. Processing circuit 200 may also calculateinertial forces of the patient and/or wheelchair due to motion of thewheelchair. Based on this analysis, procession circuit 200 generates thesignals necessary to extend or retract the cables coupled to theoccupant, or to maintain certain cable tensions. In performing thisanalysis and in adjusting the positioning of an occupant, processingcircuit 200 may make use of machine learning, artificial intelligence,interactions with databases and database table lookups, patternrecognition and logging, intelligent control, neural networks, fuzzylogic, etc.

According to one embodiment, processing circuit 200 includes processor206. Processor 206 may be implemented as a general-purpose processor, anapplication specific integrated circuit (ASIC), one or more fieldprogrammable gate arrays (FPGAs), a digital-signal-processor (DSP), agroup of processing components, or other suitable electronic processingcomponents. Processing circuit 200 also includes memory 208. Memory 208is one or more devices (e.g., RAM, ROM, Flash Memory, hard disk storage,etc.) for storing data and/or computer code for facilitating the variousprocesses described herein. Memory 208 may be or include non-transientvolatile memory or non-volatile memory. Memory 208 may include databasecomponents, object code components, script components, or any other typeof information structure for supporting the various activities andinformation structures described herein. Memory 208 may be communicablyconnected to processor 206 and include computer code or instructions forexecuting the processes described herein (e.g., the processes shown inFIGS. 8-13).

Memory 208 includes memory buffer 210. Memory buffer 210 is configuredto receive a data stream from a sensor (e.g. sensors 104, speed sensor,accelerometer, motion detector, etc.) through input 202. For example,the data may include a real-time stream of data from a camera, etc. Thedata received through input 202 may be stored in memory buffer 210 untilmemory buffer 210 is accessed for data by the various modules of memory208. For example, sensor analysis module 216, cable control module 218,and feedback generation module 220 each can access the data that isstored in memory buffer 210.

Memory 208 further includes configuration data 212. Configuration data212 includes data relating to processing circuit 200. For example,configuration data 212 may include information relating to interfacingwith other components (e.g., sensors 104, controllable motor-drivenreels 108, components of processing circuit 200, etc.). For example,configuration data 212 may include default values required to initiatethe device and initiate communication with the sensors or peripheralsystems. Configuration data 212 may include the command set needed tointerface with a computer system used transfer user settings orotherwise set up the system. This may include the command set needed togenerate graphical user interface (GUI) controls, menus, and visualinformation. For example, processing circuit 200 may format visualinformation to generate visual alerts for display on a display device.Configuration data 212 may include the command set needed to interfacewith communication components (e.g., a universal serial bus (USB)interface, a Wi-Fi interface, an Ethernet interface, etc.). For example,processing circuit 200 may format data for transmission (e.g., viaWi-Fi) to a remote terminal. Processing circuit 200 may also format datafor output via output 204 to allow a user to configure the systems asdescribed herein. Processing circuit 200 may also format audio data foroutput via output 204 to allow a speaker to create sound.

Processing circuit 200 further includes input 202 and output 204. Input202 is configured to receive a data stream (e.g., a digital or analogstream of data from sensors), configuration information, and preferenceinformation. Output 204 is configured to provide an output to acontrollable motor-driven reel, a feedback device, or components of thesystems as described herein.

Memory 208 further includes modules 216, 218, and 220 for executing thesystems and methods described herein. Modules 216, 218, and 220 areconfigured to receive sensor data, configuration information, userpreference data, and other data as provided by processing circuit 200.Modules 216, 218, and 220 are generally configured to analyze sensordata, determine the position of a wheelchair occupant, determine if theoccupant is in a correct position, and adjust or maintain the extensionlengths of cables by controlling motor-driven reels affixed to cables.Modules 216, 218, and 220 may be further configured to operate accordingto a user's preferences. In this manner, certain thresholds andoperational modes may be adjusted according to a user's desires.

Sensor analysis module 216 is configured to receive sensor data fromvarious sensors (e.g., sensors 104 of FIG. 1, speed sensors, motionsensors, etc.). The sensor data may include distance related data,orientation related data, a range, or general 3-D spatial information.The sensor data may be provided through input 202 or through memorybuffer 210. Sensor analysis module 216 scans the sensor data andanalyzes the data to detect the position of the occupant within thechair. Detection of the position of the occupant may include detectionof extremities of the occupant. Sensor analysis module 216 may furtherdetermine the particular type of extremity (e.g., arm, leg, foot, head,hand, etc.) and base a position determination on the location of aparticular extremity. Sensor analysis module 216 analyzes the occupant'sposition to determine whether the occupant has slipped downward withinthe chair, or whether the occupant has otherwise shifted in positionsuch that repositioning is necessary. Sensor analysis module 216 maycompare the occupant's position to stored proper positions in the chair.Such proper positions may be stored in configuration data 212 orpreference data 214. Proper positions may be provided when the system ofprocessing circuit 200 is initially configured. Proper and/or newpositions may be also added later by a user, or automatically determinedby sensor analysis module 216. For example, positions may be determinedin order to counteract a sliding occupant, a displaced occupant, fallingoccupant, shifting occupant, etc. Positions may also be determined inorder to prevent an occupant from being displaced, sliding, falling,shifting, etc. Positions may be also added later by the user approvingof his current position and designating it as a proper position. Sensoranalysis module 216 may compare the occupant's position to storedimproper positions in the chair. Such improper positions may be storedin configuration data 212 or preference data 214. Improper positions maybe provided when the system of processing circuit 200 is initiallyconfigured. Improper positions may be also added later by a user, orautomatically determined by sensor analysis module 216. Improperpositions may be also added later by the user disapproving of hiscurrent position and designating it as an improper position. Sensoranalysis module 216 may compare the occupant's position to thedimensions of the chair. Such dimension information may be based on amodel of the chair stored in configuration data 212 or preference data214. A chair model may be pre-stored or determined by sensor analysismodule 216.

Sensor analysis module 216 generally determines the position of anoccupant and whether the occupant should be repositioned, or have theirposition maintained through a variety of methods. A particular methodmay correspond to the type of sensors in use. Any of the methods ofdetection discussed herein may be combined or used individually.

In one embodiment, sensor analysis module 216 computes an amount ofmisalignment of the occupant within the chair. Sensor analysis module216 bases a determination of whether to reposition the occupant on themisalignment amount. Misalignment amounts may be based on the locationof a single body part within the chair, or the location of multiple bodyparts. Misalignment amounts may include distances, percentages,averages, etc. As an example, sensor analysis module 216 may compute thedistance an occupant's shoulder or head is from the top (or other pointof reference) of the chair. If the distance is greater than a certainthreshold, sensor analysis module 216 may determine that the occupanthas slipped down the chair. If the distance is within the threshold,sensor analysis module 216 may determine that the occupant is already ina correct position, and should have his or her position maintained.Thresholds and offsets may be used to customize the systems describedherein for a particular occupant. Sensor analysis module 216 may alsodetermine proportions of a particular occupant, and utilize theproportion values to customize these systems. Sensor analysis module 216may also receive input (via input 202) from cable sensors coupled to themotorized-reels. This data may include information related to cabletension, cable extension length (e.g., how far the cable is reeled in orout), cable direction, and stress values, etc. Sensor analysis module216 may determine that an occupant is an improper position based thedata from the cable sensors.

In one embodiment utilizing a wide-field-of-view camera, sensor analysismodule 216 receives image data. Sensor analysis module 216 analyzes theimage data to detect the occupant's position using body detectionalgorithms. As the body of the occupant is detected, sensor analysismodule 216 compares the location of various extremities to thewheelchair (or to a model of the wheelchair). If the occupant's bodyindicates that has slipped down or has shifted to an improper position,sensor analysis module calculates the amount the cables need to beadjusted in order to correct the occupant's position. Sensor analysismodule 216 may calculate intermediate steps or positional adjustments tobe made to the occupant during correction of the occupant's position.Sensor analysis module 216 sends these values to cable control module218, which generates commands necessary to adjust the appropriate cables(e.g., commands to cause the corresponding motor-driven reel toactivate, etc.). For example, such values may include distances theoccupant has shifted in the chair determined from a particular point onthe occupants body, or determined from support/mounting locations of thecables on the occupant. An amount that an occupant may shift beforebeing considered to be within an improper position may be adjusted(e.g., through thresholds stored in configuration data 212 or preferencedata 214). As another example, sensor analysis module 216 may sendinformation identifying a particular motor-driven reel to activate, andvalues corresponding to activating the reel (e.g., tension settings,adjustment amounts, etc.).

In one embodiment utilizing optical/laser link sensors, sensor analysismodule 216 receives data related to objects crossing the path of theoptical/laser links. For example, if the optical links are arrangedaround the perimeter of the wheelchair, the sensors may provide a signalto sensor analysis module 216 when the occupant's leg crosses theoptical link and protrudes outside the contour of the wheelchair. Suchoptical systems may be used in conjunction with other sensors describedherein. For example, after an optical link sensor is triggered, a camerasensor may be used to determine an amount that the occupant has shiftedthrough analysis of image data provided by the camera sensor. As anotherexample, capacitive and pressure sensors may be used to determine thegeneral position of an occupant in the medical device. Such pressure andcapacitive sensors may be mounted in the seat and the backrest areas ofthe wheelchair. Sensor analysis module 216 may analyze the position dataand compare it to models of the human body to estimate an amount thatthe occupant has shifted in the chair based on knowledge of bodyinterconnectivity (e.g., the hand is connected to the forearm, etc.).The models of the human body may be general models according to averagehuman proportions, or may be tailored to the dimensions of a particularoccupant. Such models may be stored in configuration data 212 orpreference data 214. In some embodiments, sensor analysis module 216 maybe configured to determine the occupant's position based on pressure orcapacitive data alone.

In one embodiment utilizing sensors coupled to the occupant, sensoranalysis module 216 may monitor sensor data for indications that anoccupant has shifted within the wheelchair to an improper position. Forexample, an RFID sensor system may be mounted throughout the perimeterof the wheelchair, and the occupant may have RFID tags coupled (e.g.,with a wristband, etc.) to her wrists and ankles. If the RFID tagcrosses the bounds of the RFID sensor system, the RFID system canprovide appropriate data to the sensor analysis module 216, which maythen determine that the occupant has slipped down the chair and shouldbe repositioned. This determination may be may in conjunction withknowledge of the occupant's body position as discussed above, or may bedependent solely on the RFID tag crossing the RFID sensor. Additionally,some RFID sensor systems are capable of determining a distance from anRFID tag as discussed above. Such distance information may be utilizedby sensor analysis module 216 in determining the positioning of theoccupant, and whether the occupant has moved to an improper position.

In one embodiment utilizing infrared sensors, sensor analysis module 216may analyze heat map data corresponding to the heat signature of anoccupant. Sensor analysis module 216 scans the heat map to determinesthe position of the occupant, and then compares the position to thedimensions of the wheelchair. If the occupant is determined to beimproperly location within the chair, sensor analysis module 216 maydetermine that the occupant may need to be moved.

In one embodiment, sensor analysis module 216 receives motion datarelated to the motion of the wheelchair. Motion data may be provided byvarious motion sensors, accelerometers, gyroscope device, etc., coupledto the wheelchair. For example, as the wheelchair moves quickly (e.g.,longitudinally, laterally, angularly, etc.), sensor analysis module 216may provide commands to cable control module 218 in order to bettersecure the occupant in his or her position. This may include commandsfor increasing cable tensile limits, increasing cable tension values, ordecreasing the extension length of a cable, etc. As another example, asthe wheelchair moves slowly, sensor analysis module 216 may providecommands to cable control module 218 in order to allow the occupant morefreedom of motion. This may include commands for decreasing cabletensile limit values, decreasing cable tension values, or increasing theextension length of a cable, etc. In one embodiment, sensor analysismodule 216 monitors the actual motion of the wheelchair, and predicts afuture movement/motion. In another embodiment, the wheelchair can beautomatically moved using an automatic motion control system, and sensoranalysis module 216 monitors the planned route of the wheelchair, andpredicts a future movement. In some embodiments, a map indicatingpathways, doorways, obstacles, or the like may be used to predict futuremovement. Sensor analysis module 216 may determine whether to repositionor secure an occupant based on the predicted movement.

In one embodiment, sensor analysis module 216 may receive a user commandvia input 202 specifying that the occupant should be repositioned. Theuser command may be provided by a user interface or input device on thewheelchair or from a remote terminal. The user command may specify aparticular position in which to move the occupant, or the command may bemore general such that the occupant is repositioned to a stored properposition. The user command may also provide cable length values, tensionvalues, tensile limits, etc., or other values related to moving theoccupant. Sensor analysis module 216 may receive the command and comparethe desired occupant position to the current position. Based on thedifference in positions, sensor analysis module 216 provides appropriatevalues to cable control module 218 such that the occupant is moved bythe systems described herein.

In one embodiment, sensor analysis module 216 is configured to functionaccording to an active mode. While in the active mode, sensor analysismodule 216 may perform the position analysis as discussed above andactively cause cable control module 218 to decrease the extended lengthsof the cables in order to move the occupant. Sensor analysis module 216may provide tensile limits to cable control module 218 to govern thecontrol of the cables. Such tensile limits may be defined asconfiguration values or default values, and may be customized for aparticular occupant. The tensile limits may be selected in order toavoid harming the occupant as a cable is reeled in. For example, a cablemay be adjusted only while the detected cable tension is within thetensile limit. In the event the cable tension exceeds the cable limit,cable control module 218 may cease adjusting the cable, or allow thecable to extend, thereby providing slack and relieving the cabletension. In one embodiment, cable control module 218 may adjust the rateof a cable length adjustment speed (e.g., slow down a repositioning ofthe occupant) in order to maintain the cable tension at or below thecable limit. In one embodiment, stress sensors are coupled to theoccupant, the cable support/mounting points, the occupant's clothing, aharness, or on the cables. Data from the stress sensors may be used toset or adjust tensile limits in real-time. Data from the stress sensorsmay also be used by sensor analysis module 216 while adjusting thecables according to any of the methods described herein. For example,stress sensor data may be used as a safety mechanism, wherein any cableadjustments are stopped when a certain stress level is detected.

In one embodiment, sensor analysis module 216 is configured to functionaccording to a passive mode. While in the passive mode, sensor analysismodule 216 may perform position analysis as discussed above, and allowcable control module 218 to increase or decrease the extended length ofa cable in order to accommodate movement of the occupant. A maximumextension length may be provided as configuration or default values, ormay be set by a user. The maximum extension length may be used to limithow far an occupant may move. Additional, a tension value may beprovided to cable control module 218, which may use the tension value tomaintain a fixed tension in a cable. In this manner, sensor analysismodule 216 may provide a tension value such that movement of theoccupant is not impeded, but the cables are maintained in a tautconfiguration. Tension values may be defined as configuration or defaultvalues, or may be customized for a particular occupant.

Cable control module 218 is configured to receive data from sensoranalysis module 216 related to adjustments to be applied to the cables.Data may include position information, cable length information, cabledirection information, particular cables to be adjusted, cable tensionsettings, tensile limits, stress limits, cable adjustment rates, etc.Cable control module 218 generates the control signals necessary tocontrol a motor-driven reel that is attached to a cable. Cable controlmodule 218 may generate a control signal as defined by a particularmotor-driven reel in use. For example, cable control module 218 maycause a reel to turn in one direction, thereby increasing the length ofthe extended portion of the attached cable between the wheelchair andthe occupant. As another example, cable control module 218 may cause areel to turn the opposite direction, thereby decreasing the extendedlength of the attached cable. As another example, cable control module218 may cause a reel to turn with a certain resistance level in order tomaintain a certain tension in the attached cable. As another example,cable control module 218 may cause a reel to turn at a certain rate. Asanother example, cable control module 218 may cause a reel to ceaseturning. As another example, cable control module 218 may cause a reelturn for a certain duration of time necessary to extend or retract alength of cable. Cable control module 218 may control each motor-drivenreel (and attached cable) individually, or cable control module 218 maycontrol groups of reels (and attached cables) at the same time. Cablecontrol module 218 may provide feedback to other modules of processingcircuit 200. For example, if a reel malfunctions, cable control module218 may inform sensor analysis module 216, which may adjust itsalgorithms to compensate for the inoperative reel.

In one embodiment, processing circuit 200 may be configured to providefeedback related to adjusting the position of a wheelchair occupant.Processing circuit 200 may generate such feedback via feedbackgeneration module 220. Feedback generation module 220 receives data fromsensor analysis module 216 and cable control module 218 related toadjustments made to the cables and the position of the occupant. Thisdata may include amounts an occupant has been moved, amounts a cable hasbeen adjusted, tension values, stress sensor values, the currentposition of the occupant within the chair, etc. Based on the receiveddata, feedback generation module 220 generates feedback (e.g., an alert)to be output via a feedback device. Feedback devices may include displaydevices, network devices, audio devices, mechanical devices, etc. Forexample, in one embodiment, upon pulling an occupant up in thewheelchair after the occupant had slipped down in the wheelchair,feedback generation module 220 generates a user interface alert to beoutput on a display screen. The alert may be displayed on a screencoupled to the wheelchair, or the alert may be transmitted (e.g., via awireless network) to a remote terminal. Such a user interface warningmay include details related to moving the occupant (e.g., “Occupant hasslipped in the chair and has been actively repositioned!”). In anotherembodiment, feedback generation module 220 generates signals necessaryto create an audio alert (e.g., a beep, a siren sound, etc.) to beoutput on a speaker. In another embodiment, feedback generation module220 generates the signals necessary to cause a light to flash. Inanother embodiment, feedback generation module 220 generates signalsnecessary to cause a mechanical feedback device to vibrate. Such avibration may be selected to be detectable by the wheelchair's occupant(e.g., on armrests or a seat). Such a vibration may be selected to bedetectable by a person pushing the wheelchair, (e.g., via a wheelchair'shandles). It should be understood that the scope of the presentapplication is not limited to a particular type of warning or feedbackdevice, and embodiments may be configured to work with multiple types offeedback devices. By using such feedback devices, a caretaker, theoccupant, or other individual may notice that the occupant has shiftedto an improper position within the chair. Any of the feedback mechanismsand warnings described herein may be customized according to feedbackprofiles or user preferences, which may be stored in configuration data212 or preference data 214.

Referring to FIG. 3, a schematic diagram of wheelchair 300 is shownaccording to one embodiment. Wheelchair 300 has been equipped with thesystems described herein and includes processing circuit 302, sensors304, cables 306, and motor-driven reels 308. Processing circuit 302 maybe the embedded within the wheelchair or may be part of the wheelchair'scontrol systems. Sensors 304 may include various sensors coupled towheelchair 300 or affixed to an occupant of wheelchair 300. In oneembodiment, sensors 304 include a camera and multiple optical sensors.In another embodiment, sensors 304 include pressure sensors andcapacitive sensors. In another embodiment, sensors 304 include RFIDsensors and a camera. In another embodiment, sensors 304 include a radarsensor. In another embodiment, sensors 304 include an infrared sensor.In another embodiment, sensors 304 include optical link sensors. Inanother embodiment, sensors 304 include cable sensors. The scope of thepresent application is not limited to a particular arrangement orselection of sensors. Cables 306 are depicted at four locations onwheelchair 300 and are connected to corresponding support pointsincluding motor-driven reels 308, embedded within the chair at thesupport points. The scope of the present application is not limited to aparticular arrangement or number of cables/motor-driven reels. In oneembodiment, the motor-driven reels 308 are external to the chair. In oneembodiment, motor-driven reels 308 are located in the occupant'sclothing or harness, and are communicably connected to processingcircuit 302 via wireless or wired means (e.g., a communication link fromthe occupant's clothing/harness to processing circuit, etc.). In oneembodiment, motor-driven reels 308 are located on the cables themselves.In one embodiment, the attachment devices (clasps, clips, hooks, etc.)at the ends of cables 306 are controllable and may be configured toautomatically connect or disconnect. The attachment devices may becontrolled by processing circuit 302 to activate (and attach) ordeactivate (and disconnect). For example, if the sensor analysis moduleof processing circuit 302 detects that the wheelchair has not been inmotion for a period of time, or has arrived at a destination, it maygenerate signals to cause the attachment devices to disconnect and allowthe occupant to leave the chair. As another example, upon receiving auser command to connect or disconnect the cables, the sensor analysismodule of processing circuit 302 may generate the necessary commands tofulfill the user command.

Referring to FIG. 4, a schematic diagram of wheelchair 400 is shownaccording to one embodiment. Wheelchair 400 has been equipped with thesystems described herein and includes processing circuit 402, sensors404, cables 406, and motor-driven reels 408. Processing circuit 402 isdepicted as being part of the control systems of the wheelchair. Sensors404 include various sensors coupled to wheelchair 400. As depicted,sensors 404 may include a sensor embedded within the seat and armrestsof wheelchair 400. As an example, these sensors may be pressure orcapacitive sensors as discussed above. Occupant 412 is also shown aswearing harness 410. Harness 410 includes various support points forattaching cables 406. The support points on harness 410 may be tailoredto the particular support points and cable locations on wheelchair 400,or the support points on harness 400 may be generally located.

Referring to FIG. 5, a schematic diagram of wheelchair 500 is shownaccording to one embodiment. Wheelchair 500 has been equipped with thesystems described herein and includes processing circuit 502, sensors504, cables 506, and motor-driven reels 508. Processing circuit 502 isdepicted as being part of the control systems of the wheelchair. Sensors504 include various sensors coupled to wheelchair 500. As depicted,sensors 504 may include a sensor embedded within the seat and armrestsof wheelchair 500. As an example, these sensors may be pressure orcapacitive sensors as discussed above. Occupant 512 is also shown aswearing shirt 510. Shirt 510 includes various embedded support pointsfor attaching cables 506. Shirt 510 may be a specially designed shirtcorresponding to a particular system configuration, or may be a genericshirt including support points for attaching cables 506.

Referring to FIG. 6, a schematic diagram of wheelchair 600 is shownaccording to one embodiment. Wheelchair 600 has been equipped with thesystems described herein and includes processing circuit 602, sensors604, cables 606, and motor-driven reels 608. Processing circuit 602 isdepicted as being embedding within the headrest of wheelchair. Sensors604 include various sensors coupled to wheelchair 600. As depicted,sensors 604 may include a sensor embedded within the seat and armrestsof wheelchair 600. These sensors may be pressure or capacitive sensorsas discussed above. Sensors 604 may also include a camera embeddingwithin the top portion of the headrest of the wheelchair. Occupant 612is also shown as wearing shirt 610. Shirt 610 includes various embeddedsupport points for attaching cables 606. Occupant 612 is depicted ashaving slid down within wheelchair 600 to an improper position. Thesensor analysis module of processing circuit 602, configured accordingto an active mode as described herein, detects the improperly positionedoccupant 612 and causes motor-driven reels 608 to wind up cables 606 inorder to move occupant back to a proper position. Wheelchair 600 alsoincludes transceiver 614. Transceiver 614 may include a wirelessnetworking transceiver, a radio transceiver, a Bluetooth transceiver,etc. Processing circuit 602 generates an alert corresponding to themovement of occupant 612 and sends it to a nurse's terminal viatransceiver 614.

Referring to FIG. 7, a schematic diagram of wheelchair 700 is shownaccording to one embodiment. Wheelchair 700 has been equipped with thesystems described herein and includes processing circuit 702, sensors704, cables 706, and motor-driven reels 708. Processing circuit 702 isdepicted as being embedding within the headrest of wheelchair. Sensors704 include various sensors coupled to wheelchair 700. As depicted,sensors 704 may include a sensor embedded within the seat and armrestsof wheelchair 700. These sensors may be pressure or capacitive sensorsas discussed above. Sensors 704 may also include a camera embeddedwithin the top portion of the headrest of the wheelchair. Occupant 712is also shown as wearing shirt 710. Shirt 710 includes various embeddedsupport points for attaching cables 706. Occupant 712 is depicted asleaning forward in wheelchair 700. The sensor analysis module ofprocessing circuit 702, configured according to a passive mode asdescribed herein controls motor-driven reels 708 to maintain a fixedtension in cables 706. The tension maintains a tautness in cables 706,but provides for a range l of movement of occupant 712, allowingoccupant 712 to lean forward as shown. Wheelchair 700 also includestransceiver 714. Processing circuit 702 may use transceiver 714 to sendalerts as described herein. Additionally, transceiver 714 may be used tosend data to processing circuit 704 (e.g., configuration settings,remote user commands, etc.).

Referring to FIG. 8, a flow diagram of a process 800 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 802, thecables are connected to an occupant's clothing. The clothing may havesupport/mounting points for the cables integrated at various locationsin the clothing. In step 804, the position of the occupant is determinedusing sensors. The sensors generally provide sensor data related to theposition of the occupant. In step 806, an improper position of theoccupant is detected. In step 808, based on the position, the occupantmay need to be repositioned. In a step 810, the occupant is repositionedby controlling the cables. The cables may be adjusted to increase ordecrease in extension length individually (step 812), or the cables maybe adjusted at the same time as other cables (step 814). The cables maybe adjusted through the use of controllable motor-drive reels affixed tothe cables.

Referring to FIG. 9, a flow diagram of a process 900 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 902, thecables are connected to a harness worn by the occupant. In step 904, theposition of the occupant is determined and monitored using sensors. Thesensors generally provide sensor data related to the position of theoccupant. In step 906, the system waits for movement of the occupant. Instep 908, the cables are adjusted to accommodate a range of occupantmovement. The range of movement may be specified by user settings orautomatically determined. The occupant is not rigidly affixed to thechair and has a freedom of motion. In a step 910, a fixed tension in thecables is maintained. The tension may be specified by user settings orautomatically determined. The tension level may be such that motion ofthe occupant is not impeded, but a sufficient cable tautness ismaintained.

Referring to FIG. 10, a flow diagram of a process 1000 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 1002, thecables are connected to an occupant's clothing. The clothing may havesupport/mounting points for the cables integrated at various locationsin the clothing. In step 1004, the position of the occupant isdetermined and monitored using sensors. The sensors generally providesensor data related to the position of the occupant. In step 1006, themotion of the wheelchair is determined. The wheelchair motion may beprovided by speed sensors, motion sensors, accelerometers, gyroscopes,etc. In step 1008, the cables are adjusted based on the wheelchairmotion and the occupant's position. The cables may be adjusted todecrease the extended portion in length, and thereby increase thetension of the cable as the wheelchair moves quickly or turns, etc.(step 1010). In this manner the occupant's position may be maintainedduring movements otherwise likely to cause the occupant's position toshift. The cables may also be adjusted to increase the extended portionin length, and thereby decrease the tension of the cables as thewheelchair moves slowly (step 1012). In this manner, the occupant mayenjoy an increased freedom of motion when the occupant is less likely toshift in position.

Referring to FIG. 11, a flow diagram of a process 1100 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 1102, thecables are connected to an occupant's clothing. In step 1104, a usercommand to reposition the occupant is received. The user command may beentered via an interface on the wheelchair or may be sent remotely(e.g., from a nurse's terminal, etc.). In step 1106, the cables areadjusted based on the user command. The user command may be specific adesired position of the occupant, cable lengths, cable tension values,and other settings. The cable extension lengths may then be adjusted(step 1108) and the cable tensions may be adjusted (1110).

Referring to FIG. 12, a flow diagram of a process 1200 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 1202, thecables are connected to an occupant's clothing. In step 1204, theposition of the occupant is determined and monitored using sensors. Thesensors generally provide sensor data related to the position of theoccupant. In step 1206, an improper position of the occupant isdetected. In step 1208, a new position for the occupant is determined.In step 1210, the occupant is repositioned to the new position bycontrolling the cables. In step 1212, an alert is generated related torepositioning the occupant. The alert may be transmitted to a remoteterminal (step 1214) via wired or wireless means. The alert may also bedisplayed on a display screen coupled to the wheelchair (step 1216), oran audio alert tone may be played on a speaker coupled to the wheelchair(step 1218).

Referring to FIG. 13, a flow diagram of a process 1300 for adjusting theposition of a wheelchair occupant is shown, according to one embodiment.In alternative embodiments, fewer, additional, and/or different stepsmay be performed. Also, the use of a flow diagram is not meant to belimiting with respect to the order of steps performed. In step 1302, thecables are connected to an occupant's harness. In step 1304, theposition of the occupant is determined using sensors. The sensorsgenerally provide sensor data related to the position of the occupant.In step 1306, the extended portion of the cables are adjusted tomaintain the occupant in his or her current position. In this manner,the occupant's position may be maintained when the occupant is in aproper position.

The construction and arrangement of the systems and methods as shown inthe various embodiments are illustrative only. Although only a fewembodiments have been described in detail in this disclosure, manymodifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.). For example, the position of elements may bereversed or otherwise varied and the nature or number of discreteelements or positions may be altered or varied. Although the presentdisclosure discusses embodiments including a controllable motor-drivenreel that adjusts a cable, other cable adjustment systems are envisioned(e.g., a rack and pinion system, a lever-based system). Accordingly, allsuch modifications are intended to be included within the scope of thepresent disclosure. The order or sequence of any process or method stepsmay be varied or re-sequenced according to alternative embodiments.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions and arrangement of the embodimentswithout departing from the scope of the present disclosure.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

Although the figures may show a specific order of method steps, theorder of the steps may differ from what is depicted. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of thedisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps and decision steps.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A system for adjusting a position of a wheelchairoccupant, comprising: a sensor configured to generate sensor data basedon the position of the occupant; an adjustment system coupled to asupport point on the wheelchair and configured to be coupled to asupport point on the occupant's clothing, wherein the adjustment systemis configured to extend and retract at least one adjustment element toadjust the position of the occupant; and a processing circuit configuredto: determine the position of the occupant in the wheelchair based onthe sensor data; and adjust the adjustment element based on thedetermined position of the occupant and based on an inertial force of atleast one of the wheelchair occupant and the wheelchair.
 2. The systemof claim 1, wherein determining the position of the occupant includescomparing the position to a defined position in order to determine amisalignment of the occupant, and wherein the defined position is basedon a biometric of the wheelchair occupant.
 3. The system of claim 1,wherein adjusting the adjustment element is further based on a usercommand.
 4. The system of claim 1, wherein the processing circuit isfurther configured to determine a new position of the occupant, andwherein the adjustment element is adjusted in order to move the occupantto the new position.
 5. The system of claim 4, wherein the new positionis determined in order to counteract a displaced occupant.
 6. The systemof claim 4, wherein the new position is determined in order to preventan occupant from being displaced.
 7. The system of claim 1, whereinadjusting the adjustment element is based on at least one of an allowedrange based on a user setting, a defined tension based on a usersetting, and a tensile limit based on a user setting.
 8. The system ofclaim 1, wherein the adjustment element is adjusted independently ofadjusting an additional adjustment element.
 9. The system of claim 1,wherein the adjustment element is adjusted in conjunction with adjustingan additional adjustment element.
 10. The system of claim 1, wherein theadjustment element includes an electronically controlled fastener, andwherein the processing circuit is further configured to at least one ofcontrol the fastener to connect the adjustment element and control thefastener to disconnect the adjustment element.
 11. The system of claim1, wherein the sensor includes a camera, wherein the camera is at lastone of a wide-field-of-view camera and an infrared camera.
 12. Thesystem of claim 1, wherein the processing circuit is configured todetermine the position of the wheelchair occupant by implementing a bodydetection algorithm on the sensor data.
 13. The system of claim 1,wherein the sensor is at least one of integrated into the wheelchair,coupled to the occupant, and external to the wheelchair.
 14. A method ofadjusting a position of a wheelchair occupant, comprising: connecting anadjustable elongate material to clothing of the occupant, wherein theelongate material is coupled to a support point on the wheelchair andconfigured to be coupled to a support point on the occupant's clothing,and wherein the elongate material is configured to selectively extendand retract to adjust the position of the occupant; generating sensordata with a sensor, wherein the sensor data is based on the position ofthe occupant; determining the position of the occupant in the wheelchairbased on the sensor data; and adjusting the elongate material based onthe determined position of the occupant and based on an inertial forceof at least one of the wheelchair occupant and the wheelchair.
 15. Themethod of claim 14, wherein adjusting the elongate material is furtherbased on a user command.
 16. The method of claim 14, further comprisingdetermining a new position of the occupant, and wherein the elongatematerial is adjusted in order to move the occupant to the new position.17. The method of claim 16, wherein the new position is determined tocounteract a displaced occupant.
 18. The method of claim 16, wherein thenew position is determined to prevent an occupant from being displaced.19. The method of claim 14, wherein the elongate material is adjustedindependently of adjusting an additional elongate material.
 20. Themethod of claim 14, wherein the elongate material is adjusted inconjunction with adjusting an additional elongate material.
 21. Themethod of claim 14, wherein the sensor includes an optical sensor systemconfigured to generate information related to objects crossing anoptical path of the optical sensor system, and wherein the sensor dataincludes the generated information.
 22. The method of claim 14, whereinthe sensor includes a capacitive sensor configured to generate touchdata at a particular location on the wheelchair and wherein the sensordata includes the touch data.
 23. The method of claim 14, wherein thesensor includes an elongate material sensor configured to measure alength of an extended or retracted portion of the elongate material. 24.The method of claim 14, wherein the sensor includes an elongate materialsensor configured to measure a direction of an extended or retractedportion of the elongate material.
 25. A non-transitory computer-readablemedium having instructions stored thereon, the instructions forming aprogram executable by a processing circuit to adjust a position of awheelchair occupant, the instructions comprising: instructions forreceiving sensor data from a sensor, wherein the sensor data is based onthe position of the occupant; instructions for determining the positionof the occupant in the wheelchair based on the sensor data; andinstructions for controlling an adjustment system to adjust anadjustment element based on the determined position of the occupant andbased on an inertial force of at adjustment element one of the occupantand the wheelchair, wherein the adjustment system is coupled to asupport point on the wheelchair and configured to be coupled to asupport point on the occupant's clothing, and wherein the adjustmentsystem is configured to extend and retract at least one adjustmentelement to adjust the position of the occupant.
 26. The non-transitorycomputer-readable medium of claim 25, wherein the adjustment systemincludes a controllable motor-driven reel configured to extend andretract the adjustment element.
 27. The non-transitory computer-readablemedium of claim 26, wherein the motor-driven reel is further configuredto be coupled to the wheelchair support point.
 28. The non-transitorycomputer-readable medium of claim 26, wherein the motor-driven reel isfurther configured to be coupled to the clothing support point.
 29. Thenon-transitory computer-readable medium of claim 25, wherein theadjustment element is configured to automatically disconnect, withouthuman intervention, from the occupant.
 30. The non-transitorycomputer-readable medium of claim 29, wherein the adjustment elementautomatically disconnects from the occupant in response to determiningthat the wheelchair is station for a threshold period of time.
 31. Thenon-transitory computer-readable medium of claim 29, wherein theadjustment element automatically disconnects from the occupant inresponse to determining that the wheelchair arrives at a particulardestination.
 32. The non-transitory computer-readable medium of claim25, further comprising instructions for comparing the position of theoccupant to dimension of the wheelchair
 33. The non-transitorycomputer-readable medium of claim 32, wherein dimensions of thewheelchair are based on a model of the wheelchair.
 34. Thenon-transitory computer-readable medium of claim 33, wherein the modelof the wheelchair is pre-stored or predetermined by the processingcircuit.
 35. The non-transitory computer-readable medium of claim 25,where controlling the adjustment system is further based on a motion ofthe wheelchair, and wherein the motion is a predicted motion based on amap indicating at least one of a pathway, a doorway, and an obstacle.